CN107037418A - A kind of bounded space bearing calibration of the super directive property multipole vector array of low frequency - Google Patents
A kind of bounded space bearing calibration of the super directive property multipole vector array of low frequency Download PDFInfo
- Publication number
- CN107037418A CN107037418A CN201610945407.0A CN201610945407A CN107037418A CN 107037418 A CN107037418 A CN 107037418A CN 201610945407 A CN201610945407 A CN 201610945407A CN 107037418 A CN107037418 A CN 107037418A
- Authority
- CN
- China
- Prior art keywords
- array
- directive property
- vector
- multipole
- sound source
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
Abstract
The invention belongs to the correction of acoustic vector sensor array under water field, and in particular to the bounded space bearing calibration of the super directive property multipole vector array of the low frequency of the correction of super directive property multipole vector array in a kind of 20 1000Hz low-frequency ranges.The present invention includes：Setting up super directive property multipole vector array includes No. 0 No. 4 array elements；Regulate signal generator produces CW pulse signals, is loaded into through power amplifier in sound source and forms test sound field；Super directive property multipole vector array is rotated in the range of 0 360 °, the reception signal of No. 0~No. 4 primitives of collection and storage, each array element includes sound pressure signal and two-way vibration velocity channel signal etc. all the way.The problem in large scale free field space is needed instant invention overcomes the correction of current small yardstick basic matrix, there is provided a kind of in bounded space waters, workable, convenient and practical calibration method, the calibration of the super directive property vector array of low frequency is can be widely applied to, therefore the present invention can be widely applied to low frequency underwater and measure each field.
Description
Technical field
The invention belongs to the correction of acoustic vector sensor array under water field, and in particular to surpass in a kind of 20-1000Hz low-frequency ranges and point to
The bounded space bearing calibration of the super directive property multipole vector array of low frequency of the correction of property multipole vector array.
Background technology
In low frequency very low frequency active section, the Rayleigh limit of traditional sonar design seriously constrain the application of acoustic array under water and its
Estimate performance in orientation.And the breakthrough of super directive property basic matrix research work provides resolving ideas for this problem.In recent years, based on small
The super directive property basic matrix Beamforming Method in aperture turns into study hotspot, and substantial amounts of design analysis and Computer Simulation indicate this
The advantage of type basic matrix, but only have limited finished product system to be applied in real work at present, its one of the main reasons is
The stronger sensitiveness of this type basic matrix.
When carrying out orientation estimation using basic matrix, it is necessary to the array manifold of known basic matrix.In theory, array manifold is being set
Timing has just been provided, but transducer sensitivity error, phase be inconsistent in practice, the factor such as coupling can all cause the two between array element
Between difference.Existing numerous studies and invention work have all carried out compensation correction to these factors, but all just for normal
Advise basic matrix.The correction work of super directive property basic matrix is increasingly complex, due to arranging close between the primitive of super directive property basic matrix, therefore
Easily cause the mutually effect such as scattering, and mutually scatter generally relevant with frequency, and alignment error etc. can influence basic matrix directive property, this
All it is difficult to model and eliminate a bit.The correction work of the super directive property basic matrix in underwater sound field more lacks.Due to real work place
Reason, it is very strict that the frequency that can be corrected in pool environment is defined, and LFC low-frequency correction difficulty is greatly increased；Due to super finger
The presence of the factors such as tropism basic matrix high-amplitude phase error-sensitivity, it is necessary to consider alignment error and sensor subsequent conditioning circuit incomplete one
Cause etc. systematic error so that super directive property basic matrix Integral correction is extremely urgent, and its basic matrix size for correction space can not
The property ignored is so that problem is increasingly complex.In summary factor, sets up the confined space straightening die of super directive property vector multipole submatrix
It is the problem of must being solved during super directive property basic matrix is applied that type and its key technology, which break through,.
The content of the invention
It is an object of the invention to the influence for bounded space under water, there is provided a kind of simple, convenient and practical low
The bounded space bearing calibration of the super directive property multipole vector array of frequency.
The object of the present invention is achieved like this：
(1) setting up super directive property multipole vector array includes No. 0-No. 4 array elements, and composition one is cross, at cross origin
For No. 0 array element, No. 1~No. 4 array elements are equal with No. 0 array element spacing d, and meet kd between array element spacing d and wave number k<1；Sound source
Major axes orientation be directed at the abeam direction of super directive property multipole vector array；
(2) Regulate signal generator produces CW pulse signals, is loaded into through power amplifier in sound source and forms test sound field；
(3) super directive property multipole vector array is rotated in the range of 0-360 °, collection connects with No. 0~No. 4 primitives of storage
The collection of letters number, each array element includes sound pressure signal and two-way vibration velocity channel signal all the way；
(4) working environment arrange parameter is updated in the vector array model in spherical wave sound field, calculates theoretical array
Manifold；
Sound source is r away from basic matrix geometric center distance, and any initial position is located at and X positive axis angle thetas0The primitive of position,
During any sound source incident direction θ, it is away from sound source position
Its vector passage directivity pattern is
Array manifold vector in bounded space is：
Wherein,Represent the X passage directive property of No. i-th primitive；Represent that the Y passages of No. i-th primitive are pointed to
Property, i=0,1 ..., 4；
(5) the reception signal of storage is analyzed, result is contrasted with theoretical model：For each passage, draw
Go out the amplitude of measured data with sound source incident angle variation diagram, i.e. directivity pattern, and contrasted with theoretical directivity pattern；Draw actual measurement
The phase of data is contrasted with sound source incident angle variation diagram, and with theoretical case；If the situation of actual measurement and the theoretical meter in the present invention
Calculate result to be consistent, then show that array error is unrelated with orientation, array only exists Ro-vibrational population；
(6) weighted least square algorithm of basic matrix array manifold correction is set up；Analyzed according to institute's established model and measured data,
Correction matrix is set as diagonal matrix
WithThe measured array manifold and theoretical array manifold in n-th of measurement angle, A are represented respectivelyn
In element representation correspondence position upper channel amplitude phase unbalance amount；And the Integral correction algorithm of basic matrix is：
Or
Utilize parameter alphanData reliability is adjusted；The optimal solution of weighted least square algorithm is
The square amplitude of selection data is used as weighted value：
The beneficial effects of the present invention are：The present invention considers the main lance calibrated in bounded space Small and Medium Sized basic matrix
Shield, the influence for bounded space model and remove.Needed instant invention overcomes the correction of current small yardstick basic matrix big
The problem in yardstick free field space there is provided a kind of in bounded space waters, workable, convenient and practical calibration method, can
It is widely used in the calibration of the super directive property vector array of low frequency, therefore the present invention can be widely applied to low frequency underwater and measure each neck
Domain.
Brief description of the drawings
Fig. 1 basic matrix calibration models；
Fig. 2 content of the invention program flow diagrams；
Fig. 3 1X channel amplitude characteristics；
Fig. 4 1X channel phases characteristics；
Fig. 5 (a) is correction factor real part obtained by basin test；
Fig. 5 (b) is correction factor imaginary part obtained by basin test；
Fig. 6 (a) is cos2 θ basic matrix high-order directive property；
Fig. 6 (b) is sin2 θ basic matrix high-order directive property；
Fig. 6 (c) is cos3 θ basic matrix high-order directive property；
Fig. 6 (d) is sin3 θ basic matrix high-order directive property；
Basic matrix high-order directive property after Fig. 7 (a) cos2 θ corrections；
Basic matrix high-order directive property after Fig. 7 (b) sin2 θ corrections；
Basic matrix high-order directive property after Fig. 7 (c) cos3 θ corrections；
Basic matrix high-order directive property after Fig. 7 (d) sin3 θ corrections.
Embodiment
Invention is described in more detail below in conjunction with the accompanying drawings：
(1) super directive property multipole vector array includes No. 0~No. 4 array elements, and their compositions one are cross, at cross origin
For No. 0 array element, No. 1~No. 4 array elements are equal with No. 0 array element spacing d, and meet kd between array element spacing d and wave number k<<1.By base
Battle array is arranged on by adapter flange in the driving in measurement pond, is put at pond depth about 1/2, wherein, No. 0 primitive is located in battle array
The heart, and hang in the underface of mechanical rotary device.Measurement is hung onto into same depth with auxiliary sound simultaneously, sound source is away from basic matrix
Geometric center distance meets acoustics far field condition for r, and the major axes orientation of sound source is directed at the beam of super directive property multipole vector array
Direction.
(2) Regulate signal transmitter, which is produced, needs the CW pulse signals of frequency, and sound source input is loaded into through power amplifier
End, forms test sound field.
(3) in process of the test, keep sound source motionless, basic matrix is rotated in the range of 0 °~360 ° using mechanical device.Profit
Signal is acquired with signal acquiring system, stored, wherein signal includes the reception signal of No. 0~No. 4 primitives, each array element
Including sound pressure signal all the way and two-way vibration velocity channel signal.
(4) according to working environment, the vector array set up in spherical wave sound field receives model.Because pond space is limited,
And in low frequency operation section, to make direct-path signal try one's best length, and signal to noise ratio is improved as far as possible, there be distance between basic matrix center and transmitter
Limit, and can be compared with basic matrix aperture, it is therefore necessary to consider that sound source is propagated according to spherical wave mode.As shown in fig. 1, if sound source exists
At red spots, sound source is r away from basic matrix geometric center distance.According to geometrical relationship, any initial position is located at and X positive axis angles
θ0The primitive of position (counterclockwise for just), during sound source rotates a circle, when sound source is incident from any direction θ, it away from
Sound source position is
Wherein amplitude decays with propagation distance, and subtracts inversely with distance, i.e., for sound pressure channel, and its signal can be with
It is expressed as
And for the vector passage of each sensor, due to the relation of its axis of projection, relatively each primitive reference axis of sound source
Incident angle and primitive at origin and differ, therefore the directivity pattern of each primitive vector passage needs to consider θ ' in Fig. 1
Situation of change.According to geometrical relationship, any initial position is located at and X positive axis angle thetas0The primitive vector of position (counterclockwise for just)
The directive property of passage can be expressed as
Thus, the vector array manifold vector that can be set up in spherical wave sound field：
Although this vector is drawn in the case of five yuan of battle arrays, for other formations, this analysis method is equally applicable.
(5) the 15 road signals incident to the different angles collected carry out postpositive disposal：By all angles of each channel reception
Signal on degree is intercepted, and obtains the useful signal section containing direct wave, data then are carried out into FFT processing.Preserve all
Passage frequency-region signal after angled upper FFT processing, be used as the main target of subsequent analysis.
For special modality, analysis receives signal with sound source incident angle situation of change.Now, take on correspondence position and protected
The range value of deposit data, range value is drawn with the situation of change of angle in polar diagram, and is contrasted with modeling situation,
The amplitude contrast situation of 1X passages is as shown in Figure 2.The phase value of stored data on correspondence position is taken, by change of the phase with angle
Change situation is drawn in rectangular coordinate system, and is contrasted with modeling situation, and the contrast situation of 1X channel phases is as shown in Figure 3.
The contrast situation of other passages can similarly be drawn.Comparing result is analyzed, on the premise of result is basically identical, it is believed that actual measurement situation
Meet institute's established model, subsequent analysis can be carried out.
The actual measurement Phase Changing of primitive can be seen that with the situation of change of angle by phase and itself erect-position is caused
Phase (i.e. notional phase) changing rule it is consistent, differ only by a constant, this constant is to show the initial phase between primitive
Inconsistent amount.Analyzed more than, array error is substantially unrelated with orientation, and array only exists Ro-vibrational population.Therefore
Correction matrix may be set to diagonal matrix.
(6) for specific incident angle (n-th of measurement angle), the data on correspondence position are taken.Choose at working frequency points
Numerical value, be used as n-th measurement angle on measured array manifoldAnd theoretical array manifoldBy actual parameter
Being updated in following formula to obtain.
Finally formula is solved
The square amplitude of selection data is used as weighted value：
Correction factor is derived from, the calibration factor matrix of acquisition is multiple diagonal matrix, its real and imaginary parts such as Fig. 4 (a) and 4
(b) shown in.From correction factor as can be seen that X and Y passages are consistent substantially, amplitude phase error very little, and they with P channel it
Between difference it is then larger and anti-phase between the P channel of 1 primitive and other primitive P, this can be tested from experimental data waveform
Card.Each primitive uniformity in this basic matrix is can be seen that by the quality of correction factor preferably, to can be achieved without correction more satisfactory
Second order directivity pattern.High-order directivity pattern (the figure of the high-order directivity pattern (figure (5)) and basic matrix after calibration of basic matrix before calibrating
(6)) contrast, it is seen that second order directive property is optimized, and three rank directive property are improved, and refer in particular to the pit portion of tropism
Improve obvious.
Claims (1)
1. a kind of bounded space bearing calibration of the super directive property multipole vector array of low frequency, it is characterised in that：
(1) setting up super directive property multipole vector array includes No. 0-No. 4 array elements, and composition one is cross, is No. 0 at cross origin
Array element, No. 1~No. 4 array elements are equal with No. 0 array element spacing d, and meet kd between array element spacing d and wave number k<1；The main shaft of sound source
Direction is directed at the abeam direction of super directive property multipole vector array；
(2) Regulate signal generator produces CW pulse signals, is loaded into through power amplifier in sound source and forms test sound field；
(3) super directive property multipole vector array is rotated in the range of 0-360 °, the reception of No. 0~No. 4 primitives of collection and storage is believed
Number, each array element includes sound pressure signal and two-way vibration velocity channel signal all the way；
(4) working environment arrange parameter is updated in the vector array model in spherical wave sound field, calculates theoretical array manifold；
Sound source is r away from basic matrix geometric center distance, and any initial position is located at and X positive axis angle thetas0The primitive of position, in any sound
During the incident direction θ of source, it is away from sound source position
Its vector passage directivity pattern is
Array manifold vector in bounded space is：
Wherein,Represent the X passage directive property of No. i-th primitive；Represent the Y passage directive property of No. i-th primitive, i=
0,1,…,4；
(5) the reception signal of storage is analyzed, result is contrasted with theoretical model：For each passage, reality is drawn
The amplitude of data is surveyed with sound source incident angle variation diagram, i.e. directivity pattern, and is contrasted with theoretical directivity pattern；Draw measured data
Phase with sound source incident angle variation diagram, and with theoretical case contrast；If the situation of actual measurement and the theoretical calculation knot in the present invention
Fruit is consistent, then shows that array error is unrelated with orientation, array only exists Ro-vibrational population；
(6) weighted least square algorithm of basic matrix array manifold correction is set up；Analyzed according to institute's established model and measured data, setting
Correction matrix is diagonal matrix
WithThe measured array manifold and theoretical array manifold in n-th of measurement angle, A are represented respectivelynIn
The amplitude phase unbalance amount of element representation correspondence position upper channel；And the Integral correction algorithm of basic matrix is：
Or
Utilize parameter alphanData reliability is adjusted；The optimal solution of weighted least square algorithm is
The square amplitude of selection data is used as weighted value：
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610945407.0A CN107037418B (en) | 2016-11-02 | 2016-11-02 | A kind of bounded space bearing calibration of the super directive property multipole vector array of low frequency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610945407.0A CN107037418B (en) | 2016-11-02 | 2016-11-02 | A kind of bounded space bearing calibration of the super directive property multipole vector array of low frequency |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107037418A true CN107037418A (en) | 2017-08-11 |
| CN107037418B CN107037418B (en) | 2019-10-18 |
Family
ID=59533125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610945407.0A Active CN107037418B (en) | 2016-11-02 | 2016-11-02 | A kind of bounded space bearing calibration of the super directive property multipole vector array of low frequency |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107037418B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108763740A (en) * | 2018-05-28 | 2018-11-06 | 西北工业大学 | A kind of design method based on double flexible directivity patterns of vibration velocity sensor sonic probe |
| CN109283511A (en) * | 2018-09-01 | 2019-01-29 | 哈尔滨工程大学 | A kind of wide covering multi-beam reception basic matrix calibration method |
| CN109374107A (en) * | 2018-10-23 | 2019-02-22 | 哈尔滨工程大学 | The method of polarization characteristic interception direct wave is utilized in a kind of more way environment |
| CN109375197A (en) * | 2018-10-23 | 2019-02-22 | 哈尔滨工程大学 | A kind of small size vector array low frequency scatter correction method |
| CN109471113A (en) * | 2018-11-06 | 2019-03-15 | 哈尔滨工程大学 | Multibeam sonar bathymetric surveying quality real time evaluating method based on phase method |
| CN110133627A (en) * | 2019-05-21 | 2019-08-16 | 哈尔滨工程大学 | Hydrolocation navigation system element position calibration measurement point spacing optimization method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1580813A (en) * | 2004-05-17 | 2005-02-16 | 中国人民解放军空军雷达学院 | Method for conducting array corrction and information source direction finding by using high precision auxiliary array element |
| CN101436890A (en) * | 2008-12-10 | 2009-05-20 | 中国移动通信集团广东有限公司 | Method and equipment for estimating antenna array error parameter |
| CN102901965A (en) * | 2012-09-26 | 2013-01-30 | 同济大学 | Radar imaging method of electrically large size target in ocean clutter environment |
| CN103983338A (en) * | 2014-05-09 | 2014-08-13 | 哈尔滨工程大学 | Calibration method for multi-pole vector receiving array |
-
2016
- 2016-11-02 CN CN201610945407.0A patent/CN107037418B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1580813A (en) * | 2004-05-17 | 2005-02-16 | 中国人民解放军空军雷达学院 | Method for conducting array corrction and information source direction finding by using high precision auxiliary array element |
| CN101436890A (en) * | 2008-12-10 | 2009-05-20 | 中国移动通信集团广东有限公司 | Method and equipment for estimating antenna array error parameter |
| CN102901965A (en) * | 2012-09-26 | 2013-01-30 | 同济大学 | Radar imaging method of electrically large size target in ocean clutter environment |
| CN103983338A (en) * | 2014-05-09 | 2014-08-13 | 哈尔滨工程大学 | Calibration method for multi-pole vector receiving array |
Non-Patent Citations (2)
| Title |
|---|
| 刑传玺 等: "一种新型低频声矢量场采集系统的涉及与实现", 《仪器仪表学报》 * |
| 郭俊媛 等: "基于超指向性多极子矢量阵的水下低频声源方位估计方法研究", 《物理学报》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108763740A (en) * | 2018-05-28 | 2018-11-06 | 西北工业大学 | A kind of design method based on double flexible directivity patterns of vibration velocity sensor sonic probe |
| CN109283511A (en) * | 2018-09-01 | 2019-01-29 | 哈尔滨工程大学 | A kind of wide covering multi-beam reception basic matrix calibration method |
| CN109283511B (en) * | 2018-09-01 | 2022-07-29 | 哈尔滨工程大学 | Wide-coverage multi-beam receiving array calibration method |
| CN109374107A (en) * | 2018-10-23 | 2019-02-22 | 哈尔滨工程大学 | The method of polarization characteristic interception direct wave is utilized in a kind of more way environment |
| CN109375197A (en) * | 2018-10-23 | 2019-02-22 | 哈尔滨工程大学 | A kind of small size vector array low frequency scatter correction method |
| CN109374107B (en) * | 2018-10-23 | 2021-01-05 | 哈尔滨工程大学 | Method for intercepting direct wave by utilizing polarization characteristics in multi-path environment |
| CN109471113A (en) * | 2018-11-06 | 2019-03-15 | 哈尔滨工程大学 | Multibeam sonar bathymetric surveying quality real time evaluating method based on phase method |
| CN110133627A (en) * | 2019-05-21 | 2019-08-16 | 哈尔滨工程大学 | Hydrolocation navigation system element position calibration measurement point spacing optimization method |
| CN110133627B (en) * | 2019-05-21 | 2022-06-14 | 哈尔滨工程大学 | Method for optimizing array element position calibration measurement point spacing of underwater acoustic positioning navigation system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107037418B (en) | 2019-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107037418B (en) | A kind of bounded space bearing calibration of the super directive property multipole vector array of low frequency | |
| CN104374385B (en) | A kind of new method of seabed array of magnetic sensors target positioning | |
| CN102590804B (en) | Overland testing system of Doppler sonar and testing method thereof | |
| CN107884741A (en) | A kind of more broadband sound source fast orienting methods of more ball arrays | |
| CN102997988B (en) | Pool testing method of low-frequency acoustic directivity of large submerged buoy vector hydrophone | |
| CN102680579A (en) | Concrete internal defect detection method based on acoustic emission sensor array | |
| CN111819467A (en) | Method and apparatus for estimating wave propagation and scattering parameters | |
| CN100520441C (en) | Phase measuring system of 8-element ultrashort base positioning system and calibration thereof | |
| CN102243306A (en) | Underwater acoustic measurement method for scattering properties of ship target broadband radar | |
| CN102590349A (en) | Method for measuring insertion loss/ transmission coefficient of underwater sound passive material based on time reversal focusing | |
| CN108089155A (en) | Single hydrophone sound source Passive Location under a kind of abyssal environment | |
| CN108519602A (en) | Cold seepage fast imaging system and its array signal processing method | |
| CN110346600A (en) | A kind of ultrasonic wind speed and direction measurement method | |
| CN110081964A (en) | Underwater sound source position and power spectrum combined estimation method based on sparse spectrum fitting | |
| CN109471114A (en) | A kind of multibeam sonar bathymetric surveying quality real time evaluating method based on amplitude method | |
| CN113534161B (en) | Beam mirror image focusing method for remotely positioning underwater sound source | |
| CN107783137A (en) | A kind of sound Doppler's harmony correlation speed measurement method based on five beam configurations | |
| CN104105049A (en) | Room impulse response function measuring method allowing using quantity of microphones to be reduced | |
| CN111460362B (en) | Sound source positioning data complementation method based on quaternary microphone array group | |
| CN109375197A (en) | A kind of small size vector array low frequency scatter correction method | |
| CN111308421A (en) | Method for acquiring acoustic radiation of target free field in shallow sea | |
| CN100580444C (en) | Method for measuring acoustics parameter of viscous-elastic material under medium-high frequency | |
| CN114488010A (en) | Virtual receiving array amplification method for linear array underwater sound source spacing | |
| CN109188378B (en) | Ultrasonic Doppler echo signal simulation method | |
| CN103675100B (en) | A kind of method measuring angular spectrum of sound transmission performance of underwater acoustic material |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |